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-rw-r--r--servers/physics_3d/godot_body_3d.cpp20
-rw-r--r--servers/physics_3d/godot_body_3d.h2
-rw-r--r--servers/physics_3d/godot_collision_solver_3d.cpp18
-rw-r--r--servers/physics_3d/godot_collision_solver_3d.h2
-rw-r--r--servers/physics_3d/godot_space_3d.cpp2
-rw-r--r--servers/physics_3d/godot_step_3d.cpp2
6 files changed, 28 insertions, 18 deletions
diff --git a/servers/physics_3d/godot_body_3d.cpp b/servers/physics_3d/godot_body_3d.cpp
index 4c89106839..b632f7f461 100644
--- a/servers/physics_3d/godot_body_3d.cpp
+++ b/servers/physics_3d/godot_body_3d.cpp
@@ -56,7 +56,7 @@ void GodotBody3D::update_mass_properties() {
// Update shapes and motions.
switch (mode) {
- case PhysicsServer3D::BODY_MODE_DYNAMIC: {
+ case PhysicsServer3D::BODY_MODE_RIGID: {
real_t total_area = 0;
for (int i = 0; i < get_shape_count(); i++) {
if (is_shape_disabled(i)) {
@@ -154,7 +154,7 @@ void GodotBody3D::update_mass_properties() {
_inv_inertia = Vector3();
_inv_mass = 0;
} break;
- case PhysicsServer3D::BODY_MODE_DYNAMIC_LINEAR: {
+ case PhysicsServer3D::BODY_MODE_RIGID_LINEAR: {
_inv_inertia_tensor.set_zero();
_inv_mass = 1.0 / mass;
@@ -201,7 +201,7 @@ void GodotBody3D::set_param(PhysicsServer3D::BodyParameter p_param, const Varian
real_t mass_value = p_value;
ERR_FAIL_COND(mass_value <= 0);
mass = mass_value;
- if (mode >= PhysicsServer3D::BODY_MODE_DYNAMIC) {
+ if (mode >= PhysicsServer3D::BODY_MODE_RIGID) {
_mass_properties_changed();
}
} break;
@@ -209,12 +209,12 @@ void GodotBody3D::set_param(PhysicsServer3D::BodyParameter p_param, const Varian
inertia = p_value;
if ((inertia.x <= 0.0) || (inertia.y <= 0.0) || (inertia.z <= 0.0)) {
calculate_inertia = true;
- if (mode == PhysicsServer3D::BODY_MODE_DYNAMIC) {
+ if (mode == PhysicsServer3D::BODY_MODE_RIGID) {
_mass_properties_changed();
}
} else {
calculate_inertia = false;
- if (mode == PhysicsServer3D::BODY_MODE_DYNAMIC) {
+ if (mode == PhysicsServer3D::BODY_MODE_RIGID) {
principal_inertia_axes_local = Basis();
_inv_inertia = inertia.inverse();
_update_transform_dependent();
@@ -263,7 +263,7 @@ Variant GodotBody3D::get_param(PhysicsServer3D::BodyParameter p_param) const {
return mass;
} break;
case PhysicsServer3D::BODY_PARAM_INERTIA: {
- if (mode == PhysicsServer3D::BODY_MODE_DYNAMIC) {
+ if (mode == PhysicsServer3D::BODY_MODE_RIGID) {
return _inv_inertia.inverse();
} else {
return Vector3();
@@ -315,7 +315,7 @@ void GodotBody3D::set_mode(PhysicsServer3D::BodyMode p_mode) {
_update_transform_dependent();
} break;
- case PhysicsServer3D::BODY_MODE_DYNAMIC: {
+ case PhysicsServer3D::BODY_MODE_RIGID: {
_inv_mass = mass > 0 ? (1.0 / mass) : 0;
if (!calculate_inertia) {
principal_inertia_axes_local = Basis();
@@ -327,7 +327,7 @@ void GodotBody3D::set_mode(PhysicsServer3D::BodyMode p_mode) {
set_active(true);
} break;
- case PhysicsServer3D::BODY_MODE_DYNAMIC_LINEAR: {
+ case PhysicsServer3D::BODY_MODE_RIGID_LINEAR: {
_inv_mass = mass > 0 ? (1.0 / mass) : 0;
_inv_inertia = Vector3();
angular_velocity = Vector3();
@@ -407,7 +407,7 @@ void GodotBody3D::set_state(PhysicsServer3D::BodyState p_state, const Variant &p
} break;
case PhysicsServer3D::BODY_STATE_CAN_SLEEP: {
can_sleep = p_variant;
- if (mode >= PhysicsServer3D::BODY_MODE_DYNAMIC && !active && !can_sleep) {
+ if (mode >= PhysicsServer3D::BODY_MODE_RIGID && !active && !can_sleep) {
set_active(true);
}
@@ -744,7 +744,7 @@ void GodotBody3D::wakeup_neighbours() {
continue;
}
GodotBody3D *b = n[i];
- if (b->mode < PhysicsServer3D::BODY_MODE_DYNAMIC) {
+ if (b->mode < PhysicsServer3D::BODY_MODE_RIGID) {
continue;
}
diff --git a/servers/physics_3d/godot_body_3d.h b/servers/physics_3d/godot_body_3d.h
index 93bd5a0071..2153ca4e91 100644
--- a/servers/physics_3d/godot_body_3d.h
+++ b/servers/physics_3d/godot_body_3d.h
@@ -40,7 +40,7 @@ class GodotConstraint3D;
class GodotPhysicsDirectBodyState3D;
class GodotBody3D : public GodotCollisionObject3D {
- PhysicsServer3D::BodyMode mode = PhysicsServer3D::BODY_MODE_DYNAMIC;
+ PhysicsServer3D::BodyMode mode = PhysicsServer3D::BODY_MODE_RIGID;
Vector3 linear_velocity;
Vector3 angular_velocity;
diff --git a/servers/physics_3d/godot_collision_solver_3d.cpp b/servers/physics_3d/godot_collision_solver_3d.cpp
index b2d3e4d876..094d77a582 100644
--- a/servers/physics_3d/godot_collision_solver_3d.cpp
+++ b/servers/physics_3d/godot_collision_solver_3d.cpp
@@ -38,7 +38,7 @@
#define collision_solver sat_calculate_penetration
//#define collision_solver gjk_epa_calculate_penetration
-bool GodotCollisionSolver3D::solve_static_world_boundary(const GodotShape3D *p_shape_A, const Transform3D &p_transform_A, const GodotShape3D *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result) {
+bool GodotCollisionSolver3D::solve_static_world_boundary(const GodotShape3D *p_shape_A, const Transform3D &p_transform_A, const GodotShape3D *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, real_t p_margin) {
const GodotWorldBoundaryShape3D *world_boundary = static_cast<const GodotWorldBoundaryShape3D *>(p_shape_A);
if (p_shape_B->get_type() == PhysicsServer3D::SHAPE_WORLD_BOUNDARY) {
return false;
@@ -70,6 +70,7 @@ bool GodotCollisionSolver3D::solve_static_world_boundary(const GodotShape3D *p_s
bool found = false;
for (int i = 0; i < support_count; i++) {
+ supports[i] += p_margin * supports[i].normalized();
supports[i] = p_transform_B.xform(supports[i]);
if (p.distance_to(supports[i]) >= 0) {
continue;
@@ -379,9 +380,9 @@ bool GodotCollisionSolver3D::solve_static(const GodotShape3D *p_shape_A, const T
}
if (swap) {
- return solve_static_world_boundary(p_shape_B, p_transform_B, p_shape_A, p_transform_A, p_result_callback, p_userdata, true);
+ return solve_static_world_boundary(p_shape_B, p_transform_B, p_shape_A, p_transform_A, p_result_callback, p_userdata, true, p_margin_A);
} else {
- return solve_static_world_boundary(p_shape_A, p_transform_A, p_shape_B, p_transform_B, p_result_callback, p_userdata, false);
+ return solve_static_world_boundary(p_shape_A, p_transform_A, p_shape_B, p_transform_B, p_result_callback, p_userdata, false, p_margin_B);
}
} else if (type_A == PhysicsServer3D::SHAPE_SEPARATION_RAY) {
@@ -456,8 +457,17 @@ bool GodotCollisionSolver3D::solve_distance_world_boundary(const GodotShape3D *p
Vector3 supports[max_supports];
int support_count;
GodotShape3D::FeatureType support_type;
+ Vector3 support_direction = p_transform_B.basis.xform_inv(-p.normal).normalized();
- p_shape_B->get_supports(p_transform_B.basis.xform_inv(-p.normal).normalized(), max_supports, supports, support_count, support_type);
+ p_shape_B->get_supports(support_direction, max_supports, supports, support_count, support_type);
+
+ if (support_count == 0) { // This is a poor man's way to detect shapes that don't implement get_supports, such as GodotMotionShape3D.
+ Vector3 support_B = p_transform_B.xform(p_shape_B->get_support(support_direction));
+ r_point_A = p.project(support_B);
+ r_point_B = support_B;
+ bool collided = p.distance_to(support_B) <= 0;
+ return collided;
+ }
if (support_type == GodotShape3D::FEATURE_CIRCLE) {
ERR_FAIL_COND_V(support_count != 3, false);
diff --git a/servers/physics_3d/godot_collision_solver_3d.h b/servers/physics_3d/godot_collision_solver_3d.h
index a6a0ebfead..e7d67903e9 100644
--- a/servers/physics_3d/godot_collision_solver_3d.h
+++ b/servers/physics_3d/godot_collision_solver_3d.h
@@ -42,7 +42,7 @@ private:
static void soft_body_contact_callback(const Vector3 &p_point_A, int p_index_A, const Vector3 &p_point_B, int p_index_B, void *p_userdata);
static bool soft_body_concave_callback(void *p_userdata, GodotShape3D *p_convex);
static bool concave_callback(void *p_userdata, GodotShape3D *p_convex);
- static bool solve_static_world_boundary(const GodotShape3D *p_shape_A, const Transform3D &p_transform_A, const GodotShape3D *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result);
+ static bool solve_static_world_boundary(const GodotShape3D *p_shape_A, const Transform3D &p_transform_A, const GodotShape3D *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, real_t p_margin = 0);
static bool solve_separation_ray(const GodotShape3D *p_shape_A, const Transform3D &p_transform_A, const GodotShape3D *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, real_t p_margin = 0);
static bool solve_soft_body(const GodotShape3D *p_shape_A, const Transform3D &p_transform_A, const GodotShape3D *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result);
static bool solve_concave(const GodotShape3D *p_shape_A, const Transform3D &p_transform_A, const GodotShape3D *p_shape_B, const Transform3D &p_transform_B, CallbackResult p_result_callback, void *p_userdata, bool p_swap_result, real_t p_margin_A = 0, real_t p_margin_B = 0);
diff --git a/servers/physics_3d/godot_space_3d.cpp b/servers/physics_3d/godot_space_3d.cpp
index 074232dd66..76d59202c9 100644
--- a/servers/physics_3d/godot_space_3d.cpp
+++ b/servers/physics_3d/godot_space_3d.cpp
@@ -1249,7 +1249,7 @@ GodotPhysicsDirectSpaceState3D *GodotSpace3D::get_direct_state() {
GodotSpace3D::GodotSpace3D() {
body_linear_velocity_sleep_threshold = GLOBAL_DEF("physics/3d/sleep_threshold_linear", 0.1);
- body_angular_velocity_sleep_threshold = GLOBAL_DEF("physics/3d/sleep_threshold_angular", Math::deg2rad(8.0));
+ body_angular_velocity_sleep_threshold = GLOBAL_DEF("physics/3d/sleep_threshold_angular", Math::deg_to_rad(8.0));
body_time_to_sleep = GLOBAL_DEF("physics/3d/time_before_sleep", 0.5);
ProjectSettings::get_singleton()->set_custom_property_info("physics/3d/time_before_sleep", PropertyInfo(Variant::FLOAT, "physics/3d/time_before_sleep", PROPERTY_HINT_RANGE, "0,5,0.01,or_greater"));
diff --git a/servers/physics_3d/godot_step_3d.cpp b/servers/physics_3d/godot_step_3d.cpp
index f384c829a4..bfedcd29c0 100644
--- a/servers/physics_3d/godot_step_3d.cpp
+++ b/servers/physics_3d/godot_step_3d.cpp
@@ -44,7 +44,7 @@ void GodotStep3D::_populate_island(GodotBody3D *p_body, LocalVector<GodotBody3D
p_body->set_island_step(_step);
if (p_body->get_mode() > PhysicsServer3D::BODY_MODE_KINEMATIC) {
- // Only dynamic bodies are tested for activation.
+ // Only rigid bodies are tested for activation.
p_body_island.push_back(p_body);
}
generated by cgit v1.2.3 (git 2.25.1) at 2025-01-29 06:54:43 +0000